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60 Commits

Author SHA1 Message Date
Willian Galvani
7cc4ee5614 Sub: move handle_attitude to where it belongs 2023-07-14 15:37:18 -03:00
Willian Galvani
f16bbdfbe7 Sub: tweaks to stabilization code 2023-07-10 15:19:51 -03:00
Willian Galvani
d26d0dacf8 Sub: introduce CONTROL_FRAME parameter, allowing users to switch control frame for yaw 2023-02-27 17:23:07 -03:00
Willian Galvani
497f850a1a Sub: tweak Yaw behavior for workign at both high and low gains in an useable way 2022-10-04 17:51:35 -03:00
Willian Galvani
94f3079ca1 Sub: tweak depth holding behavior in stabilize/althold/poshold 2022-09-28 11:30:33 -03:00
Willian Galvani
1b3cdc6442 Sub: tweak ALTHOLD when surfacing 2022-09-28 00:20:48 -03:00
Willian Galvani
b487a03750 Sub: remove unnecessary deadzone in control_althold 2022-09-26 20:07:41 -03:00
Willian Galvani
4f8fbf5360 Sub: tweak althold again to stop violent shaking 2022-06-02 16:20:26 -03:00
Willian Galvani
9a6fb5232e Sub: make SET_ATTITUDE_TARGET changes persistent 
In the sense that it no longer "times out"
 2022-04-28 16:27:59 -03:00
Willian Galvani
9faf1ef273 Sub: fix holding depth at arbitrary attitudes 2022-04-28 15:26:18 -03:00
Willian Galvani
41f4beb36f Sub: do not reset attitude targets between althold<->stabilize 2022-04-19 20:42:31 -03:00
Willian Galvani
4ab3103761 Implement vectored depth-hold 2022-04-19 20:42:31 -03:00
Willian Galvani
0b6ae3e5d4 Sub: Improve althold to handle small inputs with payload/buyoancy better 2022-04-19 20:42:31 -03:00
Leonard Hall
62b932fe27 Sub: seperate kinimatic shaping from pid limit setting 2021-07-22 19:07:36 +09:00
Leonard Hall
266bd22df3 Sub: Use PosControl fixes 2021-05-24 20:13:37 +10:00
Willian Galvani
7fa8a455d7 Sub: refactor depth control of control_althold to a function 2020-08-03 20:19:28 -07:00
Willian Galvani
4b16271b3d Sub: Remove rangefinder support of control loops 
The rangefinder handling doesn't handle sonar glitches like
locking on to reflections very well. We will remove the
rangefinder as an input to the controllers until we can do a
more robust implementation.
 2019-06-05 11:54:45 -04:00
Peter Barker
cb88bc7f53 Sub: adjust for desired spool state renames 2019-04-14 12:18:03 +09:00
Leonard Hall
d8d3522cba Sub: replace set_throttle_out_unstabilized 2019-04-08 09:42:21 +09:00
Patrick José Pereira
d2052cdd35 Sub: Use new reset_i in relax_alt_hold_controllers 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-03-26 13:37:18 -04:00
Patrick José Pereira
33768cd79c Sub: Fix overshoot from joystick input 
This approach waits for a zero derivative point and to set the new actual position
Such method is necessary since the inertia of the ROV underwater is bigger than aerial vehicles
resulting in a big overshoot

Fix #9797

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-03-26 13:37:18 -04:00
Peter Barker
285fe4c79c Sub: explicitly type constant 
This makes clang happier
 2019-02-20 19:23:54 +11:00
Randy Mackay
8ba87171e6 Sub: desired-ground-idle replaces spin-when-armed 2019-01-15 11:41:44 +09:00
Michael du Breuil
27fad4489e Sub: Cope with AC_PosControl renaming 2018-09-20 15:15:45 -07:00
Patrick José Pereira
90601c80e9 Sub: Simplify some returns 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-06-29 15:51:30 -04:00
Patrick José Pereira
d3da8f2914 Sub: Add attitude control with althold via mavlink 
Allow ordinary attitude positions without a gps system

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-06-12 17:27:56 -04:00
Patrick José Pereira
e62b560095 Sub: Move SITL barometer check to control_check_barometer 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-05-07 17:28:51 -04:00
Patrick José Pereira
0878f5044c Sub: Send a clear message if depth sensor is not connected 
Fix bluerobotics/ardusub#151

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-04-19 07:45:00 -07:00
Randy Mackay
da17034a3d Sub: replace smoothing gain with AC_AttitudeControl::set_input_tc 2018-03-16 13:50:57 +09:00
ChrisBird
0fb679b2b2 Sub: Separate max ascent and descent speeds 
This is to match a change made to Copter.

It might be relevant to sub in that users may wish to have asymmetrical descent and ascent rates.

New parameters named:
PILOT_SPEED_UP (technically renamed PILOT_VELZ_MAX)
PILOT_SPEED_DN

Removed parameter PILOT_VELZ_MAX (technically renamed to PILOT_SPEED_UP).

Modes impacted:
ALT_HOLD
CIRCLE
POSHOLD

Update a section in GUIDED mode but I don't think it is ever used but update just in case.

It will use the PILOT_SPEED_UP for ascending max velocity.  For down it will check if
it is 0, if so then it will PILOT_SPEED_UP instead, if non zero it will use PILOT_SPEED_DN.
This retains current behavior and gives the flexibility to change it if desired.

The above behavior is less of a concern for Sub but to keep it consistent its been implemented it the same way.
 2017-12-28 15:16:08 -05:00
Peter Barker
279072cf25 Sub: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
Jacob Walser
131e1bdef5 Sub: Bugfix for external baro failsafe handling when no baro is 
connected at boot
 2017-05-03 18:13:31 -04:00
Jacob Walser
c093e1c37e Sub: Add failsafe mechanisms for depth sensor error 2017-04-16 14:25:13 -04:00
Jacob Walser
f7c4810eaa Sub: Remove ignore_check argument from control mode init functions 2017-04-16 14:25:13 -04:00
Jacob Walser
c16046aadf Sub: Remove unused motor emergency stop and interlock 2017-04-14 13:26:37 -04:00
Jacob Walser
6886952438 Sub: Remove simple mode 2017-03-22 23:39:37 -04:00
Jacob Walser
4233ebd005 Sub: Improve depth hold behavior 2017-03-22 15:53:38 -04:00
Jacob Walser
8a24b074f7 Sub: Disable external baro check for SITL 2017-03-07 09:35:41 +11:00
Jacob Walser
1990aa7829 Sub: Update stale references to Copter 2017-02-21 11:26:14 +11:00
Jacob Walser
4112fd1316 Sub: Remove mode header 2017-02-21 11:26:14 +11:00
Jacob Walser
5233b25910 Sub: Format all C++ with Tools/CodeStyle/astylerc 2017-02-21 11:26:14 +11:00
Jacob Walser
ed87bd9e59 Sub: fixes from rebase on ArduPilot master 2017-02-21 11:26:14 +11:00
Jacob Walser
a3565c90b5 Sub: Apply deadzone by using norm_input_dz instead of norm_input 2017-02-21 11:26:14 +11:00
Jacob Walser
a217b4c684 Sub: lock out depth hold mode if no external sensor is present 2017-02-21 11:26:14 +11:00
Rustom Jehangir
26d0a922c1 Sub: Changes to match recent Copter updates. 2017-02-21 11:26:14 +11:00
Rustom Jehangir
cc00feac29 Sub: Repair motor outputs for ROVs for +/-1.0 range 2017-02-21 11:26:14 +11:00
Rustom Jehangir
837f429bf0 Sub: Refactor 'strafe' to 'lateral' 2017-02-21 11:26:14 +11:00
Rustom Jehangir
684bc249b6 Sub: Update to match upstream, part 1 2017-02-21 11:26:14 +11:00
Rustom Jehangir
5ee68aee42 Sub: Fix compile error in control_althold 2017-02-21 11:26:14 +11:00
jaxxzer
0c73ad5f4b Sub: Fix units for surface depth 2017-02-21 11:26:14 +11:00